1. Institute for Problems of Mechanical Engineering, Russian Academy of Sciences, Bolshoy Ave. 61, Vasilievsky Ostrov, St. Petersburg 199178, Russia
2. Department of Control Theory and System Dynamics, Lobachevsky State University of Nizhny Novgorod, Gagarina Pr. 23, Nizhny Novgorod 603950, Russia
3. Department of Theoretical Cybernetics, Saint Petersburg State University, Universitetskii Pr. 28, St. Petersburg 198504, Russia